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Date of download: 11/1/2017 Copyright © ASME. All rights reserved.

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1 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: Configuration of X-shaped tensegrity in the absence of external load. The spheres, thin lines, and thick lines denote the nodes, strings, and bars, respectively.

2 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: Two possible deformation modes of X-shaped tensegrity under uniaxial tension: (a) in-plane mode (α=0) and (b) off-plane mode (0<α<π), with α denoting the relative twist angle between the top and bottom strings

3 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: Curves of the uniaxial force f¯, incremental stiffness Δf¯/Δλ¯, and twist angle α with respect to relative elongation λ¯ for X-shaped tensegrity with k¯s2=1, k¯b=100, L¯s2=1, and L¯b=1.5

4 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: Curves of the critical force f¯cr and critical elongation λ¯cr with respect to the axial stiffness k¯s2 of the horizontal strings for an X-shaped tensegrity with k¯b=100, L¯s2=1, and L¯b=1.5. The inset shows the details of f¯cr – k¯s2 and λ¯cr – k¯s2 curves in a subrange.

5 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: Curves of the critical force f¯cr and critical elongation λ¯cr with respect to the axial stiffness k¯b of the bars for an X-shaped tensegrity with k¯s2=1, L¯s2=1, and L¯b=1.5. The inset shows the details of f¯cr – k¯b and λ¯cr – k¯b curves in a subrange.

6 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: Curves of the critical force f¯cr and critical elongation λ¯cr with respect to the natural length L¯s2 of the horizontal strings for an X-shaped tensegrity with k¯s2=1, k¯b=100, and L¯b=1.5

7 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: Curves of the critical force f¯cr and critical elongation λ¯cr with respect to the natural length L¯b of the bars for an X-shaped tensegrity with k¯s2=1, k¯b=100, and L¯s2=1. The inset shows the details of f¯cr – L¯b and λ¯cr – L¯b curves in a subrange.

8 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: X-shaped tensegrity sculpture: (a) planar configuration without external load and (b) chiral configuration under an external load exceeding the critical force

9 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: Strip structure made of five X-shaped tensegrity cells with different critical forces: (a) curves of uniaxial force f̂ and total twist angle A with respect to relative elongation λ̂ and (b) configuration evolution of the structure under uniaxial tensile force

10 Date of download: 11/1/2017 Copyright © ASME. All rights reserved. From: Chirality Induced by Structural Transformation in a Tensegrity: Theory and Experiment J. Appl. Mech. 2016;83(4): doi: / Figure Legend: Variations of the uniaxial force f¯ versus relative elongation λ¯ for the tensegrity in Fig. 8(a) with different vertical springs: (a) ks1=0.116 N/mm and Ls1=158 mm and (b) ks1=0.122 N/mm and Ls1=148 mm. The symbols are the experimental results under four loading–unloading processes, and the lines are the theoretical results calculated from Eqs. (17)–(20).


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